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智库非标叉车脚本使用说明
1 项目概述
这是造车项目，控制器控制底盘（加侧边相机，全向车），上装是PLC控制的叉尺（可升降、可前移）。
上装的动作由脚本通过modbusTcp协议发送指令控制。
2、任务链使用说明
1、货叉升升降
json
{
"script_name": "ForkByModbusTcpCtr.py",
"script_args": {
"action_parameters": [
{"key":"height",
"value":456}
],
"operation": "forklift"
},
"operation": "Script",
}
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2、边走边升降货叉
json
{
"id": "终点",
"source_id": "起点",
"script_name": "ForkByModbusTcpCtr.py",
"script_args": {
"action_parameters": [
{"key":"height",
"value":456}
],
"operation": "forklift"
},
"operation": "Script",
"script_stage": 1 // 0:导航前，1：导航中，2：导航后，不写默认为2
}
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3、称重
json
{
"script_name": "ForkByModbusTcpCtr.py",
"script_args": {
"operation":"weigh",
"action_parameters":[
{"key":"weight",
"value":12}
]
},
"operation": "Script",
}
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4、切换模式
json
{
"script_name": "ForkByModbusTcpCtr.py",
"script_args": {
"operation":"switch_mode",
"mode":1
},
"operation": "Script",
}
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5、托盘码识别
json
{
"script_name": "ForkByModbusTcpCtr.py",
"script_args": {
"operation":"pallet_code_rec",
"action_parameters":[
{"key":"loadId",
"value":"1334567"}
]
},
"operation": "Script",
}
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6、导航到站点
json
{
"script_name": "ForkByModbusTcpCtr.py",
"script_args": {
"operation":"move_point",
"action_parameters": [
{"key": "endPoint",
"value": "AP1"}
]
},
"operation": "Script",
}
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7、导航到站点同时伸叉
json
{
"script_name": "ForkByModbusTcpCtr.py",
"script_args": {
"operation":"move_point_stretch_go",
"action_parameters": [
{"key": "endPoint",
"value": "AP1"}
]
},
"operation": "Script",
}
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8、导航到站点同时收叉
json
{
"script_name": "ForkByModbusTcpCtr.py",
"script_args": {
"operation":"move_point_stretch_back",
"action_parameters": [
{"key": "endPoint",
"value": "AP1"}
]
},
"operation": "Script",
}
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9、收叉
json
{
"script_name": "ForkByModbusTcpCtr.py",
"script_args": {
"operation":"stretch_back"
}
"operation": "Script",
}
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10、伸叉
json
{
"script_name": "ForkByModbusTcpCtr.py",
"script_args": {
"operation":"stretch_go"
}
"operation": "Script",
}
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11、放货
json
{
"script_name": "ForkByModbusTcpCtr.py",
"script_args": {
"blocking_type":"soft"
"operation":"drop",
"action_parameters": [
{"key": "startPoint",
"value": "LM1"},
{"key": "endPoint",
"value": "AP1"}
]
},
"operation": "Script",
}
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12、取货（不识别）
json
{
"script_name": "ForkByModbusTcpCtr.py",
"script_args": {
"blocking_type":"soft"
"operation":"pick",
"action_parameters": [
{"key": "startPoint",
"value": "LM1"},
{"key": "endPoint",
"value": "AP1"}
]
},
"operation": "Script",
}
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13、取货（识别）
json
{
"script_name": "ForkByModbusTcpCtr.py",
"script_args": {
"recognize":true,
"blocking_type":"soft"
"operation":"pick",
"action_parameters": [
{"key": "startPoint",
"value": "LM1"},
{"key": "endPoint",
"value": "AP1"}
]
},
"operation": "Script",
}
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13、取货（识别、称重、识别托盘码）
json
{
"script_name": "ForkByModbusTcpCtr.py",
"script_args": {
"recognize":true,
"blocking_type":"soft"
"operation":"pick",
"action_parameters": [
{"key": "height",
"value": 456},
{"key": "loadId",
"value": 12}
{"key": "startPoint",
"value": "LM1"},
{"key": "endPoint",
"value": "AP1"}
]
},
"operation": "Script",
}
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最近更新 2023/09/04
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